this->moving = false;
this->paused = false;
this->fx_counter = 0;
+ this->stepped = 0;
this->fx_ticks_per_step = 0;
this->steps_to_move = 0;
this->direction_bit = 0;
- this->step_bit = 0;
- this->update_exit_tick();
- this->dont_remove_from_active_list_yet = false;
+ //this->update_exit_tick();
+ this->remove_from_active_list_next_reset = false;
+ this->is_move_finished = false;
}
StepperMotor::StepperMotor(Pin* step, Pin* dir, Pin* en) : step_pin(step), dir_pin(dir), en_pin(en) {
this->moving = false;
this->paused = false;
this->fx_counter = 0;
+ this->stepped = 0;
this->fx_ticks_per_step = 0;
this->steps_to_move = 0;
this->direction_bit = 0;
- this->step_bit = 0;
- this->update_exit_tick();
- this->dont_remove_from_active_list_yet = false;
+ //this->update_exit_tick();
+ this->remove_from_active_list_next_reset = false;
+ this->is_move_finished = false;
}
// Called a great many times per second, to step if we have to now
-bool StepperMotor::tick(){
-
+void StepperMotor::tick(){
- // output to pins 37t
- this->dir_pin->set( this->direction_bit );
- this->step_pin->set( this->step_bit );
-
- // ignore inactive steppers 13t
- if( this->exit_tick ){
- this->step_bit = 0;
- return false;
- }
-
// increase the ( fixed point ) counter by one tick 11t
this->fx_counter += (uint64_t)((uint64_t)1<<32);
// if we are to step now 10t
if( this->fx_counter >= this->fx_ticks_per_step ){
-
+
+ // output to pins 37t
+ this->dir_pin->set( this->direction_bit );
+ this->step_pin->set( 1 );
+ this->step_ticker->reset_step_pins = true;
+
// move counter back 11t
this->fx_counter -= this->fx_ticks_per_step;
- // we must step, actual output is done at the beginning of this function 8t
- this->step_bit = 1;
-
// we have moved a step 9t
this->stepped++;
// is this move finished ? 11t
- if( this->stepped == this->steps_to_move ){
+ if( this->stepped == this->steps_to_move ){
+ this->is_move_finished = true;
+ this->step_ticker->moves_finished = true;
+ }
- //printf("end\r\n");
+ }
+
+}
+
+void StepperMotor::signal_move_finished(){
// work is done ! 8t
this->moving = false;
- this->update_exit_tick();
-
+ this->steps_to_move = 0;
+
// signal it to whatever cares 41t 411t
this->end_hook->call();
- }
+ // We only need to do this if we were not instructed to move
+ if( this->moving == false ){
+ this->update_exit_tick();
+ }
- }else{
-
- // we must not step
- this->step_bit = 0;
- }
+ this->is_move_finished = false;
}
// This is just a way not to check for ( !this->moving || this->paused || this->fx_ticks_per_step == 0 ) at every tick()
inline void StepperMotor::update_exit_tick(){
- if( !this->moving || this->paused || this->fx_ticks_per_step == 0 ){
+ //printf("try update list %u %u %u\r\n", this->moving, this->paused, this->fx_ticks_per_step == 0 );
+ if( !this->moving || this->paused || this->steps_to_move == 0 ){
// We must exit tick() after setting the pins, no bresenham is done
- if( this->exit_tick == false ){
- //printf("set for removal %p \r\n", this);
- this->exit_tick = true;
- this->dont_remove_from_active_list_yet = true;
- }
+ //this->remove_from_active_list_next_reset = true;
+ this->step_ticker->remove_motor_from_active_list(this);
}else{
// We must do the bresenham in tick()
- if( this->exit_tick == true ){
- this->exit_tick = false;
- //printf("adding motor %p \r\n", this);
- this->step_ticker->add_motor_to_active_list(this);
- }
+ // We have to do this or there could be a bug where the removal still happens when it doesn't need to
+ //this->remove_from_active_list_next_reset = false;
+ this->step_ticker->add_motor_to_active_list(this);
}
}
// Instruct the StepperMotor to move a certain number of steps
void StepperMotor::move( bool direction, unsigned int steps ){
-
+
+ //printf("stepper %p moving %u \r\n", this, steps );
// We do not set the direction directly, we will set the pin just before the step pin on the next tick
this->direction_bit = direction;
this->stepped = 0;
// Starting now we are moving
- if( steps > 0 ){ this->moving = true; }else{ this->moving = false; }
+ if( steps > 0 ){
+ this->moving = true;
+ }else{
+ this->moving = false;
+ }
this->update_exit_tick();
}
// Set the speed at which this steper moves
void StepperMotor::set_speed( double speed ){
-
+ //printf(" steppermotor %p set speed : %f \r\n", this, speed);
if( speed < 0.0001 ){
this->steps_per_second = 0;
this->fx_ticks_per_step = 1>>63;
return;
}
-
+
+ //if( speed < this->steps_per_second ){
+ LPC_GPIO1->FIOSET = 1<<19;
+ //}
+
// How many steps we must output per second
this->steps_per_second = speed;
double ticks_per_step = (double)( (double)this->step_ticker->frequency / speed );
double double_fx_ticks_per_step = (double)(1<<16) * ( (double)(1<<16) * ticks_per_step );
this->fx_ticks_per_step = (uint64_t)( floor(double_fx_ticks_per_step) );
- this->update_exit_tick();
+
+ LPC_GPIO1->FIOCLR = 1<<19;
}
+void StepperMotor::pause(){
+ this->paused = true;
+ this->update_exit_tick();
+}
+void StepperMotor::unpause(){
+ this->paused = false;
+ this->update_exit_tick();
+}
HCoop / clinton / Smoothieware.git / blobdiff